Duke of York rushing back to London as allegations surface of sex with minor

Prince Andrew has reportedly cut short a skiing holiday in Switzerland and is rushing back to London for a summit with the Queen as claims surface he allegedly had sex with an Australian mother when she was a minor.

Virginia Roberts, 31, has been identified by British media as the plaintiff in a lawsuit filed last week in Florida against billionaire and convicted pedophile Jeffrey Epstein.

In the court documents, she has accused the billionaire of training her to be an underage sex slave to him and his powerful friends, including Prince Andrew.

"I was a pedophile's top girl, being trained up for a British prince," the Sunday Daily Mail quoted Ms Roberts as saying of her relationship with Mr Epstein.

"I was totally under Jeffrey's spell. I was his personal sex slave."

Ms Roberts claims she was kept as a sex slave between 1999 and 2002, when she was aged between 15 and 17.

She says she was paid $15,000 to have sex with the Prince in London, New York and on Epstein's private island in the Caribbean.

A palace spokesman said: "It is emphatically denied that the Duke of York had any form of sexual contact or relationship with Virginia Roberts.

"The allegations made are false and without any foundation."

The claims against Epstein were first published in February 2011 in an interview Ms Roberts gave Britain's Mail on Sunday, where she waived anonymity.

At the time, the paper reported that Ms Roberts was 17 and above when she met the prince and there was no suggestion of any sexual relations between the pair.

Ms Roberts moved to Australia after marrying an Australian she met in Thailand while attending a massage course in 2002 and is now the mother of three children.

Epstein was convicted in 2008 of a single charge of soliciting a minor for prostitution as part of a controversial plea bargain in which other sex charges against him were thrown out.

The current motion has been filed as part of a civil case. The lawyers for two alleged victims have argued that the rights of the women were violated during the negotiation of the plea deal, and request two more alleged victims are added to the case, including Ms Roberts, who is identified only as "Jane Doe No. 3".